CN112684482B - Underwater target detection system and method based on ocean unmanned platform - Google Patents
Underwater target detection system and method based on ocean unmanned platform Download PDFInfo
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- CN112684482B CN112684482B CN202011267973.3A CN202011267973A CN112684482B CN 112684482 B CN112684482 B CN 112684482B CN 202011267973 A CN202011267973 A CN 202011267973A CN 112684482 B CN112684482 B CN 112684482B
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Abstract
The invention discloses an underwater target detection system and method based on an ocean unmanned platform, and relates to the technical field of underwater targets. The system is used for solving the technical defects that the active sound source has poor sound wave transmission effect on an operating water area, the acquisition frequency band of the unmanned underwater vehicle of the receiver for the target scattering sound field is not fully covered, and the automation degree for underwater target detection is not high. The invention utilizes the thin line towing array and the nose line array carried by the unmanned underwater vehicle of the receiver to mutually cooperate to collect the scattering sound field signals of the target, can effectively solve the problem of insufficient coverage of the collecting frequency band when the scattering sound field of the target is collected by the traditional method, and can realize the effects of 'long-distance low-frequency detection' and 'close-range middle-high-frequency detailed investigation' of the underwater target.
Description
Technical Field
The invention relates to the technical field of underwater targets, in particular to an underwater target detection system and method based on an ocean unmanned platform.
Background
The underwater environment is taken as a special working environment, and the factors such as attenuation of electromagnetic waves, low underwater visibility and the like cause great trouble to the current underwater salvage, underwater target detection and identification work, and the detection effect on the underwater targets directly influences the efficiency and effect of the underwater salvage and other works. The underwater operation is difficult, and the safety risk of operators is raised when the underwater operation is performed in a water area.
The most effective way of underwater detection and identification is through cooperation of a surface boat and an unmanned submarine. The current underwater target detection based on the unmanned underwater vehicle mainly has the following problems: firstly, the existing active sound source is mostly carried by an unmanned submarine, the transmitting power is low, the signal-to-noise ratio and the target echo intensity required by target interception are difficult to maintain, and the detection of the submarine or buried target is not facilitated; secondly, the sonar array carried by the submarine is limited in size, sound signal acquisition is mainly concentrated in a medium-high frequency band, low-frequency signal acquisition is difficult, and long-distance effective detection of a target is not facilitated.
In the existing underwater target detection technology, the underwater acoustic transducer carried by the unmanned underwater vehicle has low emission power, and is not beneficial to effectively transmitting sound waves to an operating water area. In addition, the acquisition frequency band covered by the unmanned submarine of the receiver is narrower, and the detection and recognition effects of the underwater targets are greatly affected.
Disclosure of Invention
In view of the above, the invention provides an underwater target detection system and method based on an ocean unmanned platform, which can solve the problem of insufficient coverage of an acquisition frequency band when an object scattering sound field is acquired by a traditional method, and can realize the effects of 'long-distance low-frequency detection' and 'close-range medium-high frequency detailed investigation' of an underwater target.
In order to achieve the above purpose, the technical scheme of the invention is as follows: an underwater target detection system based on an ocean unmanned platform comprises a global satellite positioning system, a water surface unmanned ship control center, a ship-borne active sound source, an underwater positioning and communication system, at least one receiver unmanned submarine and at least one underwater target.
The global satellite positioning system provides regional active three-dimensional satellite positioning systems and communication GNSS signals for the unmanned surface vessel control center.
The water surface unmanned ship control center is used for receiving the GNSS signals and acquiring the position information of the water surface unmanned ship control center; the unmanned ship control center on the water surface also acquires the position information of the unmanned submarine of the receiver through an underwater positioning and communication system.
The shipborne active sound source is carried on the unmanned ship control center on the water surface; the shipborne active sound source is used for emitting the active sound source, transmitting the active sound source to the whole operation water area and penetrating the sandy soil buried layer, exciting an underwater target to generate a scattering sound field and generating echo signals.
The underwater positioning and communication system comprises an ultra-short baseline positioning system transmitter and an ultra-short baseline positioning system transponder; the underwater positioning and communication system is used for positioning the position information of the unmanned underwater vehicle of the receiver, and comprises the specific position and the depth of the unmanned underwater vehicle of the receiver and the distance between the unmanned underwater vehicle control centers of the water surface, and sending the position information to a signal processing center carried on the unmanned underwater vehicle of the receiver; the underwater positioning and communication system is in underwater communication with the unmanned ship control center on the water surface and the unmanned underwater vehicle on the receiver.
The unmanned underwater vehicle of the receiver is provided with a signal processing center, a nose line array, a thin line towing array and a towing array retraction device; the ultra-short baseline positioning system transponder is also disposed on the receiver unmanned submersible vehicle.
The unmanned underwater vehicle of the receiver collects scattered sound field signals generated by exciting the target by the active sound source through a fine line dragging array and a nose line array which are mounted on the unmanned underwater vehicle, wherein the fine line dragging array collects signals of a frequency band below 5kHz and is used for finding the target remotely; the nose line array collects signals in a frequency range of 5kHz-40kHz and is used for identifying targets in a short distance; and carrying out matched filtering and beam forming processing on echo signals generated by the target by a signal processing center carried on the unmanned underwater vehicle of the receiver to obtain the distance and azimuth value of the underwater target.
The towing array receiver is used for applying and recovering the thin wire towing array and importing data acquired by the thin wire towing array into the signal processing center.
And the signal processing center acquires the position information of the underwater target according to the distance and azimuth values of the unmanned underwater vehicle of the receiver, the unmanned ship control center on the water surface and the underwater target.
After the unmanned underwater vehicle of the receiver obtains the position information of the underwater target, if the distance between the position of the underwater target and the unmanned underwater vehicle of the receiver in the horizontal direction exceeds a set threshold, the unmanned underwater vehicle of the receiver performs approaching reconnaissance on the underwater target, and in the approaching process, scattering sound field information of different positions of the underwater target is acquired by using the carried thin line dragging array.
After the distance between the unmanned underwater vehicle of the receiver and the underwater target in the horizontal direction is smaller than a set distance threshold, the towing array receiving and releasing device recovers the thin line towing array, the unmanned underwater vehicle of the receiver rotates around the underwater target in a spiral line movement track mode to descend, and the mounted nose line array is used for collecting omnidirectional scattering field information of the underwater target at different depths in the descending process.
The signal processing center establishes a database in advance by utilizing the scattered field information of a typical underwater target, the collected scattered field information of the underwater target is compared with the database in the approaching process or the descending process of the unmanned underwater vehicle, and the target is classified and identified through machine learning to obtain a detection result, wherein the detection result is the detection result of the underwater target.
Further, the shipborne active sound source is arranged at the bottom of the control center of the unmanned ship on the water surface; the signal processing center is arranged in the inner cavity of the unmanned submarine of the receiver; the nose line array is arranged at the nose position of the unmanned submarine of the receiver; the towing array receiving and releasing device is arranged at the abdomen position of the unmanned underwater vehicle of the receiver; the thin line towing array is connected to a towing array receiver on the unmanned submersible of the receiver.
Furthermore, the working frequency of the active sound source emitted by the shipborne active sound source can cover the whole frequency range of 500Hz-40kHz, and the sound source level is more than 160 dB.
Further, the ultra-short baseline positioning system transmitter is arranged at the bottom of the control center of the unmanned ship on the water surface; the ultra-short baseline positioning system transponder is mounted at the back of the unmanned submersible vehicle of the receiver.
The ultra-short baseline positioning system transmitter is controlled by the water surface unmanned ship control center to send a positioning signal, an ultra-short baseline positioning system receiver on the receiver unmanned submersible vehicle receives the positioning signal and then sends a response signal, and the water surface unmanned ship control center calculates the position information of the receiver unmanned submersible vehicle according to the response signal after receiving the response signal.
The invention also provides an underwater target detection method based on the ocean unmanned platform, which adopts the underwater target detection system based on the ocean unmanned platform to detect the underwater target, and specifically comprises the following steps:
s01, a water surface unmanned ship control center sends an operation instruction, the operation instruction is received by a shipborne active sound source and an underwater positioning and communication system, the shipborne active sound source transmits the active sound source after receiving the operation instruction, the active sound source transmits the operation instruction to the whole operation water area and penetrates into a sediment buried layer to excite an underwater target to generate a scattering sound field and generate an echo signal, and the underwater positioning and communication system acquires position information of the unmanned underwater vehicle of the receiver.
S02, the unmanned underwater vehicle of the receiver collects scattering sound field signals generated by exciting an underwater target through a thin line dragging array carried on the tail part of the unmanned underwater vehicle and a nose line array carried on the nose part of the unmanned underwater vehicle, wherein the thin line dragging array collects signals of a frequency band below 5kHz and is used for finding the target remotely, and the nose line array collects signals of a frequency band between 5kHz and 40kHz and is used for identifying the target closely.
S03, the position information of the unmanned underwater vehicle of the receiver is obtained in advance through an underwater positioning and communication system by a signal processing center, echo signals are subjected to matched filtering and beam forming processing by the signal processing center carried by the unmanned underwater vehicle of the receiver, the distance and azimuth value of the underwater target are obtained, and the signal processing center estimates the position information of the underwater target according to the position information of the unmanned underwater vehicle of the receiver and the distance and azimuth value of the underwater target.
S04, after the unmanned underwater vehicle of the receiver obtains the position information of the underwater target, if the distance between the position of the underwater target and the horizontal direction of the unmanned underwater vehicle of the receiver exceeds a preset threshold, the unmanned underwater vehicle of the receiver performs approaching reconnaissance on the underwater target, and simultaneously acquires scattering sound field information of different positions of the underwater target by using the mounted thin line dragging array.
S05, after the distance between the unmanned underwater vehicle of the receiver and the underwater target in the horizontal direction is smaller than a set distance threshold, the towing array receiving and releasing device recovers the thin line towing array, the unmanned underwater vehicle of the receiver rotates around the underwater target in a spiral line movement track mode to descend, and meanwhile the mounted nose line array is used for collecting omnidirectional scattering field information of the underwater target at different depths.
S06, the signal processing center compares the collected scattered field information of the underwater target with a database according to a pre-established scattered field information database of various typical underwater targets when the unmanned underwater vehicle of the receiver performs an approaching process or a descending process, and classifies and identifies the target through machine learning to obtain a detection result, wherein the detection result is the detection result of the underwater target.
Further, in S03, the echo signal is subjected to matched filtering and beam forming processing by a signal processing center carried by the unmanned underwater vehicle of the receiver, so as to obtain a distance and an azimuth value of the underwater target, which specifically comprises the following steps:
and if the active sound source signal emitted by the shipborne active sound source is E (t), the echo signal E (t) received by the signal processing center has the expression:
E(t)＝[E 1 (t) E 2 (t) … E M (t)]。
in E m (t) for the obtained echo signal of the mth hydrophone, m is [1, M]Integers within the range;
the echo signal E (t) is matched and filtered by the active sound source signal E (t) to obtain a pulse peak value signal t 1 The active sound source signal emission time is t 0 The distance L of the underwater target is:
L＝c(t 1 -t 0 )
where c is the propagation velocity of sound in water.
The signal processing center performs beam forming processing on the echo signal E (t), scans all angles on an array signal azimuth space, and obtains the azimuth of the underwater target by using a DOA azimuth estimation method, wherein the array beam forming expression is as follows:
wherein BP (θ) is the output intensity of the array beam; e (E) m (t) is the echo signal of the mth hydrophone; w (w) m Is the corresponding weighting coefficient; d, d m The distance between the mth hydrophone and a preset reference hydrophone is set; θ represents the focus angle of the beamforming.
When BP (θ) takes the maximum value, the beam formed at this time has a beam focusing angle θ 0 Is consistent with the direction of the incoming wave, theta 0 Namely, scattering information of underwater targetThe number incoming wave direction is the azimuth value.
The beneficial effects are that:
1. the invention provides an underwater target detection system and method based on an ocean unmanned platform, which are used for solving the technical defects that the active sound source has poor sound wave transmission effect on an operating water area, the acquisition frequency band of a target scattering sound field is not fully covered by a receiver unmanned submarine, and the automation degree of underwater target detection is not high. The invention utilizes the thin line towing array and the nose line array carried by the unmanned underwater vehicle of the receiver to mutually cooperate to collect the scattering sound field signal of the target, can effectively solve the problem of insufficient coverage of the collecting frequency band when the scattering sound field of the target is collected by the traditional method, and can realize the beneficial effects of 'long-distance low-frequency detection' and 'close-range middle-high frequency detailed investigation' of the underwater target;
2. according to the underwater target detection system based on the ocean unmanned platform, the unmanned ships and the unmanned underwater vehicle are used for collaborative detection, so that the automatic advantages of the unmanned ships and the unmanned underwater vehicle are fully exerted, and the safety risk of operators working in a water area can be effectively reduced;
3. the invention utilizes the unmanned surface vehicle to emit the active sound source, is convenient for maintaining the signal-to-noise ratio required by intercepting the target, and has the advantages of strong penetrability, high emitting power, wide application range and good detection and identification result.
Drawings
FIG. 1 is a block diagram of an underwater object detection system based on an unmanned marine platform;
FIG. 2 is a block diagram of an underwater target detection system based on an unmanned marine platform according to an embodiment of the present invention;
fig. 3 is a flowchart of an underwater target detection method based on an ocean unmanned platform according to an embodiment of the present invention.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a marine unmanned platform-based underwater target detection shown in a formula 1, which comprises a global satellite positioning system 1, a water surface unmanned ship control center 2, a shipborne active sound source 3, an underwater positioning and communication system, i unmanned underwater vehicles 5 for receivers, a signal processing center 6, a nose line array 7, 8,j underwater targets 9 for a thin line towing array and a towing array receiver 11, wherein the global satellite positioning system is shown in the figure; wherein i is greater than or equal to 1 and j is greater than or equal to 1.
The global satellite positioning system 1 provides regional active three-dimensional satellite positioning systems and communication GNSS signals to the water-borne unmanned boat control center 2.
The water surface unmanned ship control center 2 is used for receiving GNSS signals to acquire the position information of the water surface unmanned ship control center 2, and acquiring the position information of the receiver unmanned submarine through an underwater positioning and communication system.
The shipborne active sound source 3 is carried on the unmanned ship control center 2 on the water surface.
The shipborne active sound source 3 is used for emitting the active sound source, transmitting the active sound source to the whole operation water area and penetrating the sandy soil buried layer, exciting the underwater target 9 to generate a scattering sound field and generating echo signals.
The unmanned underwater vehicle 5 of the receiver gathers the scattered sound field signal that the initiative sound source excites the goal and produces through the fine rule that its afterbody carries and drags the array 8 and nose line array 7 that the bow carries, wherein fine rule drags the array 8 and mainly gathers the low frequency band signal below 5kHz, is used for long-range finding the goal, nose line array 7 mainly gathers the middle-high frequency band signal of 5kHz-40kHz, is used for closely discerning the goal, the echo signal carries on the matched filtering and wave beam forming processing by the signal processing center 6 that the unmanned underwater vehicle 5 of the receiver carries, obtain the distance and the position value of the underwater goal 9.
The thin line towing array 8, the nose line array 7, the towing array receiver 11, and the signal processing center 6 are mounted on the receiver unmanned submersible vehicle 5.
The drag array receiver/player 11 is used for applying and retrieving the thin wire drag array 8 and guiding the data to the signal processing center 6.
The underwater positioning and communication system comprises an ultra-short baseline positioning system transmitter 4 and an ultra-short baseline positioning system transponder 12, and is used for positioning the position information of the receiver unmanned submersible vehicle 5, obtaining the specific position and the depth of the receiver unmanned submersible vehicle 5 and the distance between the water surface unmanned ship control center 2, sending the position information to the signal processing center 6, and simultaneously realizing underwater communication with the water surface unmanned ship control center 2 and the receiver unmanned submersible vehicle 5.
The signal processing center 6 obtains the position information of the submarine target 9 or the sediment buried target 10 according to the distance and azimuth values of the receiver unmanned submarine 5, the water surface unmanned ship control center 2 and the underwater target 9.
After the unmanned underwater vehicle 5 obtains the position information of the underwater target 9, if the distance between the position of the underwater target 9 and the horizontal direction of the unmanned underwater vehicle 5 is far, and exceeds a set distance threshold (the set distance threshold is set according to experience), the unmanned underwater vehicle 5 performs approaching detection on the underwater target 9, and acquires scattering sound field information of different positions of the underwater target 9 by using the mounted fine line towing array 8.
After the unmanned underwater vehicle 5 of the receiver approaches the underwater target 9 in the horizontal direction, the distance between the unmanned underwater vehicle 5 of the receiver and the underwater target 9 in the horizontal direction is smaller than a set distance threshold (the distance threshold can be set empirically), the towing array receiving and releasing device 11 retrieves the thin line towing array 8, the unmanned underwater vehicle 5 of the receiver rotates and descends around the underwater target 9 in a spiral line movement track mode, and the omnidirectional scattering field information of the underwater target 9 at different depths is collected by the aid of the mounted nose line array.
The signal processing center 6 pre-establishes a database for the scattered field information of various typical underwater targets 9, and when the unmanned underwater vehicle 5 of the receiver approaches the targets or descends, the collected scattered field information of the underwater targets 9 is compared with the database, and the targets are classified and identified through machine learning to obtain detection results, wherein the detection results are the detection results of the underwater targets 9.
Specifically, the on-board active sound source 3 is disposed at the bottom of the surface unmanned boat control center 2.
The signal processing center 6 is arranged in the inner cavity of the unmanned submarine 5 of the receiver.
The nose line array 7 is arranged at the nose position of the unmanned submarine 5 of the receiver.
The towing array receiver 11 is provided at the abdominal position of the receiver unmanned submersible vehicle 5.
The fine line towing array 8 is connected to a towing array receiver 11 on the receiver unmanned aerial vehicle 5.
Specifically, the working frequency of the active sound source emitted by the shipborne active sound source 3 can cover the whole frequency range of 500Hz-40kHz, and the sound source level is more than 160 dB.
Specifically, the ultra-short baseline positioning system transmitter 4 is installed at the bottom of the unmanned surface vehicle control center 2.
The ultra-short baseline positioning system transponder 12 is mounted in the back of the receiver unmanned submersible 5.
The ultra-short baseline positioning system transmitter 4 is controlled by the water surface unmanned ship control center 2 to send out a positioning signal, the ultra-short baseline positioning system transponder 12 on the receiver unmanned submersible vehicle 5 sends out a response signal after receiving the positioning signal, and the water surface unmanned ship control center 2 calculates the position information of the receiver unmanned submersible vehicle 5 according to the response signal after receiving the response signal by the ultra-short baseline positioning system transmitter 4.
The number of unmanned underwater vehicles and the number of objects buried in the seabed or the sediment is variable, namely, the number of unmanned underwater vehicles can be one or a plurality of unmanned underwater vehicles, wherein the number of the underwater objects is random, and fig. 2 shows another embodiment of the invention, in the embodiment, two unmanned underwater vehicles 5 and 14 and 1 unmanned underwater vehicle 14 with the underwater object 9 are also provided with a nose bow linear array 15, a thin line towing array 16, a signal processing center 17, an ultra-short baseline positioning system transponder 13 and a towing array receiver 18.
The embodiment of the invention also provides an underwater target detection method based on the ocean unmanned platform, which adopts the underwater target detection system based on the ocean unmanned platform to detect the underwater target 9 and specifically comprises the following steps:
s01, initializing a system: the unmanned ship control center 2 on the water surface sends an operation command, the shipborne active sound source 3 emits an active sound source, the active sound source transmits the active sound source to the whole operation water area and penetrates to the sediment buried layer, the underwater target 9 is excited to generate a scattering sound field, an echo signal is generated, and the underwater positioning and communication system obtains the position information of the unmanned submarine 5 of the receiver.
S02, collecting underwater sound data: the unmanned underwater vehicle 5 of the receiver collects the scattered sound field signals generated by exciting the underwater target 9 by the active sound source through a fine line dragging array 8 carried on the tail part and a nose line array 7 carried on the nose part, wherein the fine line dragging array 8 mainly collects low-frequency band signals below 5kHz for finding the target remotely, and the nose line array 7 mainly collects medium-high frequency band signals of 5kHz-40kHz for identifying the target closely.
S03, estimating a target position: the position information of the unmanned underwater vehicle 5 is obtained in advance by the signal processing center 6 through an ultra-short baseline positioning system, echo signals are subjected to matched filtering and beam forming processing by the signal processing center 6 carried by the unmanned underwater vehicle to obtain the distance and azimuth value of the underwater target 9, and the signal processing center 6 estimates the position information of the underwater target 9 according to the position information of the unmanned underwater vehicle 5 and the distance and azimuth value of the underwater target 9.
Specifically, the specific steps of the signal processing center 6 for performing matched filtering and beam forming processing to obtain the distance and azimuth values of the underwater target 9 are as follows: the transmitted active sound source signal is E (t), and the echo signal E (t) received by the signal processing center 6 is expressed as follows:
E(t)＝[E 1 (t) E 2 (t) … E M (t)]
in E m (t) for the obtained echo signal of the mth hydrophone, m is [1, M]Integers within the range.
The echo signal E (t) is matched and filtered by the active sound source signal E (t) to obtain a pulse peak value signal t 1 The active sound source signal emission time is t 0 The distance L of the underwater target is:
L＝c(t 1 -t 0 )
where c is the propagation velocity of sound in water.
The signal processing center 6 performs beam forming processing on the echo signal E (t), scans all angles on the azimuth space of the array signal, and obtains the azimuth of the underwater target 9 by using a DOA (Direction of Arrival) azimuth estimation method, and then the array beam forming expression is as follows:
wherein BP (θ) is the output intensity of the array beam, E m (t) is the echo signal of the mth hydrophone, w m For the corresponding weighting coefficient d m And theta represents the focusing angle of beam forming for the distance between the mth hydrophone and a preset reference hydrophone.
When BP (θ) takes the maximum value, the beam formed at this time has a beam focusing angle θ 0 Is consistent with the direction of the incoming wave, theta 0 The direction of the scattered signal incoming wave of the underwater target is the azimuth value.
S04, target approaching reconnaissance: after the unmanned underwater vehicle 5 obtains the position information of the underwater target 9, if the position of the underwater target 9 is far away from the unmanned underwater vehicle 5 in the horizontal direction, the unmanned underwater vehicle 5 performs close-up detailed investigation on the underwater target 9, and at the same time, the scattering sound field information of different positions of the target is acquired by using the mounted thin line dragging array 8.
S05, closely checking: after the unmanned underwater vehicle 5 of the receiver approaches the underwater target 9 in the horizontal direction, the towing array receiving and releasing device 11 recovers the thin line towing array 8, the unmanned underwater vehicle 5 of the receiver rotates around the underwater target 9 to descend in a spiral line movement track mode, and the omnidirectional scattering field information of the underwater target 9 at different depths is collected by the aid of the mounted nose line array 7.
S06, target classification and identification: according to a pre-established data base of the scattered field information of various typical underwater targets 9, when the unmanned underwater vehicle 5 of the receiver performs approaching or spiral descending actions, the signal processing center 6 compares the collected scattered field information of the underwater targets 9 with the data base, classifies and identifies the targets through machine learning to obtain detection results, and the detection results are the detection results of the underwater targets 9.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An underwater target detection system based on an ocean unmanned platform is characterized by comprising a global satellite positioning system (1), a water surface unmanned ship control center (2), a shipborne active sound source (3), an underwater positioning and communication system, at least one receiver unmanned submarine (5) and at least one underwater target (9);
the global satellite positioning system (1) provides a regional active three-dimensional satellite positioning system and communication GNSS signals for the water surface unmanned ship control center (2);
the water surface unmanned ship control center (2) is used for receiving the GNSS signals and acquiring position information of the water surface unmanned ship control center (2) from the GNSS signals; the control center (2) of the unmanned ship on the water surface also acquires the position information of the unmanned submarine of the receiver through an underwater positioning and communication system;
the shipborne active sound source (3) is mounted on the unmanned ship control center (2) on the water surface; the shipborne active sound source is used for emitting the active sound source, transmitting the active sound source to the whole operation water area and penetrating the sand buried layer, exciting the underwater target (9) to generate a scattering sound field and generating echo signals;
the underwater positioning and communication system comprises an ultra-short baseline positioning system transmitter (4) and an ultra-short baseline positioning system transponder (12); the underwater positioning and communication system is used for positioning the position information of the unmanned underwater vehicle (5) of the receiver, and comprises the specific position and the depth of the unmanned underwater vehicle (5) of the receiver and the distance of the unmanned underwater vehicle control center (2) on the water surface, and sending the position information to a signal processing center (6) mounted on the unmanned underwater vehicle (5) of the receiver; the underwater positioning and communication system is in underwater communication with the unmanned ship control center (2) on the water surface and the unmanned submarine (5) on the receiver;
the unmanned underwater vehicle (5) of the receiver is provided with a signal processing center (6), a nose line array (7), a thin line towing array (8) and a towing array retraction device (11); the ultra-short baseline positioning system transponder (12) is also arranged on the receiver unmanned submarine (5);
the unmanned underwater vehicle (5) of the receiver collects scattering sound field signals generated by exciting a target by an active sound source through a fine line dragging array (8) and a nose line array (7) which are mounted on the unmanned underwater vehicle, wherein the fine line dragging array (8) collects signals of a frequency band below 5kHz and is used for finding the target remotely; the nose line array (7) collects signals of 5kHz-40kHz frequency bands and is used for identifying targets in a short distance; echo signals generated by the target are subjected to matched filtering and wave beam forming processing by a signal processing center (6) mounted on the unmanned underwater vehicle (5) of the receiver, so as to obtain the distance and azimuth value of the underwater target (9);
the towing array receiver (11) is used for applying and recovering the thin wire towing array (8) and importing data acquired by the thin wire towing array (8) into the signal processing center (6);
the signal processing center (6) acquires the position information of the underwater target (9) according to the distance and azimuth values of the receiver unmanned submarine (5), the water surface unmanned ship control center (2) and the underwater target (9);
after the unmanned underwater vehicle (5) obtains the position information of the underwater target (9), if the distance between the position of the underwater target (9) and the unmanned underwater vehicle (5) in the horizontal direction exceeds a set threshold, the unmanned underwater vehicle (5) performs approaching reconnaissance on the underwater target (9), and in the approaching process, scattering sound field information of different positions of the underwater target (9) is acquired by using the mounted thin line dragging array (8);
after the distance between the unmanned underwater vehicle (5) and the underwater target (9) in the horizontal direction is smaller than a set distance threshold, the towing array collector (11) is used for recycling the thin line towing array (8), the unmanned underwater vehicle (5) rotates around the underwater target (9) in a spiral line movement track mode and descends, and the mounted nose line array (7) is used for collecting omnidirectional scattering field information of the underwater target at different depths in the descending process;
the signal processing center (6) establishes a database in advance by utilizing the scattering field information of a typical underwater target, the receiver unmanned underwater vehicle (5) compares the collected scattering field information of the underwater target with the database in the approaching process or the descending process, and the target classification recognition is carried out through machine learning to obtain a detection result, wherein the detection result is the detection result of the underwater target.
2. The system according to claim 1, characterized in that the onboard active sound source (3) is arranged at the bottom of a surface unmanned boat control center (2); the signal processing center is arranged in the inner cavity of the unmanned submarine vehicle (5) of the receiver; the nose line array (7) is arranged at the nose position of the unmanned submarine (5) of the receiver; the towing array receiving and releasing device (11) is arranged at the abdomen position of the unmanned underwater vehicle (5) of the receiver; the thin line towing array (8) is connected to a towing array receiver on the unmanned submarine (5) of the receiver.
3. The system of claim 1, wherein the operating frequency of the active sound source emitted by the shipboard active sound source can cover the whole frequency range of 500Hz-40kHz, and the sound source level is more than 160 dB.
4. The system according to claim 1, characterized in that the ultra-short baseline positioning system transmitter (4) is mounted at the bottom of a surface unmanned boat control center (2);
the ultra-short baseline positioning system transponder (12) is arranged at the back position of the unmanned submarine (5) of the receiver;
the ultra-short baseline positioning system transmitter (4) is controlled by the water surface unmanned ship control center (2) to send a positioning signal, the ultra-short baseline positioning system receiver (12) on the receiver unmanned submersible vehicle (5) receives the positioning signal and then sends a response signal, and the water surface unmanned ship control center (2) calculates the position information of the receiver unmanned submersible vehicle (5) according to the response signal after the ultra-short baseline positioning system transmitter (4) receives the response signal.
5. An underwater target detection method based on an ocean unmanned platform is characterized in that the underwater target detection system based on the ocean unmanned platform is adopted to detect the underwater target, and the method specifically comprises the following steps:
s01, the unmanned ship control center (2) on the water surface sends an operation instruction, the operation instruction is received by the shipborne active sound source (3) and the underwater positioning and communication system, the shipborne active sound source (3) transmits the active sound source after receiving the operation instruction, transmits the active sound source to the whole operation water area and penetrates into the sediment buried layer to excite an underwater target to generate a scattering sound field and generate an echo signal, and the underwater positioning and communication system acquires position information of the unmanned submarine (5) of the receiver;
s02, collecting scattering sound field signals generated by exciting an underwater target by an active sound source through a fine line dragging array (8) carried on the tail part of the unmanned underwater vehicle (5) and a nose line array (7) carried on the nose part of the unmanned underwater vehicle, wherein the fine line dragging array collects signals of a frequency band below 5kHz, and the nose line array (7) collects signals of a frequency band between 5kHz and 40 kHz;
s03, the position information of the unmanned underwater vehicle (5) of the receiver is obtained in advance by a signal processing center (6) through an underwater positioning and communication system, echo signals are subjected to matched filtering and wave beam forming processing by the signal processing center (6) carried by the unmanned underwater vehicle (5) of the receiver to obtain the distance and azimuth value of an underwater target, and the signal processing center (6) estimates the position information of the underwater target according to the position information of the unmanned underwater vehicle of the receiver and the distance and azimuth value of the underwater target;
s04, after the unmanned underwater vehicle (5) of the receiver obtains the position information of the underwater target, if the distance between the position of the underwater target and the unmanned underwater vehicle (5) of the receiver in the horizontal direction exceeds a preset threshold, the unmanned underwater vehicle (5) of the receiver performs approaching reconnaissance on the underwater target, and simultaneously acquires scattering sound field information of different positions of the underwater target by using the carried thin line dragging array (8);
s05, after the distance between the unmanned underwater vehicle (5) of the receiver and the underwater target (9) in the horizontal direction is smaller than a set distance threshold, the towing array receiving and releasing device (11) recovers the thin line towing array (8), the unmanned underwater vehicle (5) of the receiver rotates around the underwater target in a spiral line movement track mode to descend, and meanwhile the mounted nose line array (7) is utilized to collect omnidirectional scattering field information of the underwater target at different depths;
s06, the signal processing center (6) compares the collected scattered field information of the underwater target with a database according to a pre-established scattered field information database of various typical underwater targets when the unmanned underwater vehicle of the receiver approaches or descends, and classifies and identifies the target through machine learning to obtain a detection result, wherein the detection result is the detection result of the underwater target.
6. The method according to claim 5, wherein in S03, the echo signal is subjected to matched filtering and beam forming by a signal processing center (6) carried by the unmanned underwater vehicle (5) to obtain the distance and azimuth value of the underwater target, and the specific steps are as follows:
and if the active sound source signal transmitted by the shipborne active sound source (3) is E (t), the echo signal E (t) received by the signal processing center (6) has the expression:
E(t)＝[E 1 (t) E 2 (t) … E M (t)]；
in E m (t) for the obtained echo signal of the mth hydrophone, m is [1, M]Integers within the range;
the echo signal E (t) is matched and filtered by the active sound source signal E (t) to obtain a pulse peak value signal t 1 The active sound source signal emission time is t 0 The distance L of the underwater target is:
L＝c(t 1 -t 0 )
wherein c is the propagation velocity of sound in water;
the signal processing center performs beam forming processing on the echo signal E (t), scans all angles on an array signal azimuth space, and obtains the azimuth of the underwater target by using a DOA azimuth estimation method, wherein the array beam forming expression is as follows:
wherein BP (θ) is the output intensity of the array beam; e (E) m (t) is the echo signal of the mth hydrophone; w (w) m Is the corresponding weighting coefficient; d, d m The distance between the mth hydrophone and a preset reference hydrophone is set; θ represents the focus angle of the beamforming;
when BP (θ) takes the maximum value, the beam formed at this time has a beam focusing angle θ 0 Is consistent with the direction of the incoming wave, theta 0 The direction of the scattered signal incoming wave of the underwater target is the azimuth value.
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